arduino和openmv巡线小车代码

以下是Arduino和OpenMV的巡线小车代码示例：

Arduino代码：

int leftPin = 2; // 左电机控制引脚
int rightPin = 3; // 右电机控制引脚
int leftSensorPin = A0; // 左传感器引脚
int middleSensorPin = A1; // 中间传感器引脚
int rightSensorPin = A2; // 右传感器引脚

int leftSensorValue = 0; // 左传感器读数
int middleSensorValue = 0; // 中间传感器读数
int rightSensorValue = 0; // 右传感器读数

void setup() {
  pinMode(leftPin, OUTPUT);
  pinMode(rightPin, OUTPUT);
  pinMode(leftSensorPin, INPUT);
  pinMode(middleSensorPin, INPUT);
  pinMode(rightSensorPin, INPUT);
  Serial.begin(9600); // 串口通信初始化
}

void loop() {
  leftSensorValue = analogRead(leftSensorPin);
  middleSensorValue = analogRead(middleSensorPin);
  rightSensorValue = analogRead(rightSensorPin);

  // 左、中、右三个传感器都检测到黑线，小车前进
  if (leftSensorValue < 500 && middleSensorValue < 500 && rightSensorValue < 500) {
    digitalWrite(leftPin, HIGH);
    digitalWrite(rightPin, HIGH);
    Serial.println("Forward");
  }
  // 左传感器检测到黑线，小车左转
  else if (leftSensorValue < 500 && middleSensorValue > 500 && rightSensorValue > 500) {
    digitalWrite(leftPin, LOW);
    digitalWrite(rightPin, HIGH);
    Serial.println("Left");
  }
  // 右传感器检测到黑线，小车右转
  else if (leftSensorValue > 500 && middleSensorValue > 500 && rightSensorValue < 500) {
    digitalWrite(leftPin, HIGH);
    digitalWrite(rightPin, LOW);
    Serial.println("Right");
  }
  // 小车停止
  else {
    digitalWrite(leftPin, LOW);
    digitalWrite(rightPin, LOW);
    Serial.println("Stop");
  }
}

OpenMV代码：

import sensor, image, time

sensor.reset() # 摄像头重置
sensor.set_pixformat(sensor.RGB565) # 设置像素格式
sensor.set_framesize(sensor.QQVGA) # 设置分辨率
sensor.skip_frames(time = 2000) # 跳过2秒，等待摄像头稳定

# 设置阈值，根据实际情况调整
threshold = (0, 100)

while(True):
    img = sensor.snapshot() # 拍摄一张图像
    # 获取图像中黑线的位置
    line = img.get_regression([(255, 255)], robust = True)
    if line: # 如果检测到黑线
        img.draw_line(line.line(), color = (255, 0, 0)) # 在图像上绘制出黑线
        # 根据黑线的位置调整小车的方向，这里只是示例代码，实际应用需要根据实际情况调整
        if line.x1() > 80:
            print("Right")
        elif line.x1() < 60:
            print("Left")
        else:
            print("Forward")
    else: # 如果没有检测到黑线
        print("Stop")